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Because they believed their infant would have a better chance of surviving in the desert.
The child mortality rate from disease and malnutrition in Arab settlements was horrendously high, and it was believed that sending the child into the healthier environment of the desert increased the child's chance of survival.
- Gabriel, Richard A. Muhammad: ...

The OP asked for historical accounts, unfortunately there is unlikely a complete and accurate first hand account Muhammad's life before his prophet-hood, including about his belief. According to Karen Armstrong, "We know practically nothing" about Muhammad's life before his receiving of revelation (and becoming a prophet), because he was not yet a major ...

To add to the answer's already here:
Muhammad would have probably been brought up in the pagan culture of his tribe.
However, according to accounts, his job as a young man was to lead his uncle's merchant caravans. This would have meant travelling from Mecca to other big trading spots in the area, like Damascus for example. This would have exposed the ...

Islamic sources (Qur'an, hadith collections, and books of history) mention a polytheistic tribal religion. Some of the deities were Laat, Manat, Uzza, Wadd, etc. Each tribe/city may have a primary deity and temple. There were idols to these deities, vows were sworn on them, and they ware the focus of ritual worship, sacrifices etc. People may also have ...